CN110146307B - Snake motion detection device, detection system and detection method - Google Patents
Snake motion detection device, detection system and detection method Download PDFInfo
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Abstract
The invention relates to the field of railway vehicle performance monitoring, and discloses a snaking motion detection device and a snaking motion detection method. This snaking motion detection device includes: the displacement sensor pairs are used for detecting corresponding pulse signal pairs of the target wheel pairs of the vehicle which run to different positions in the detection interval; a processor to perform the following operations: determining the transverse displacement and the head shaking angle of the target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions; and determining the amplitude and the frequency of the snake-shaped motion in the detection interval according to the transverse displacement and the head shaking angle of the target wheel pair at different positions. The invention can effectively detect and pre-judge the instability condition of the vehicle.
Description
Technical Field
The invention relates to the field of railway vehicle performance monitoring, in particular to a snaking motion detection device, a snaking motion detection system and a snaking motion detection method.
Background
The snaking motion of the railway vehicle is a concrete expression of the automatic centering process of the running of the target wheel pair, and exists all the time during the running of the vehicle. In the wheel abrasion period, as the equivalent taper is continuously increased, the snaking instability of the bogie is generated after the snaking motion of the bogie develops to a certain degree. The hunting instability can seriously deteriorate the running quality of the railway vehicle, cause the periodic vibration with large amplitude and single frequency of a bogie and a vehicle body, reduce the fatigue life of the vehicle and the bogie components, increase the dynamic acting force between wheel rails and influence the driving safety. In the aspect of economy, the abrasion amount of the wheel tread is obviously increased after the snaking motion is generated, and the wheel abrasion period is shortened. Truck hunting has adverse effects on safety, comfort, and economy. Monitoring the snaking amplitude of the bogie can provide support for making a more economical wheel turning strategy, and can realize warning on a section with violent snaking motion, and reduce the influence of snaking motion by means of speed reduction and the like. The development of a device for detecting the snaking motion of the bogie is particularly important.
At present, the popular snaking motion detection is realized by arranging a vibration acceleration sensor on a bogie frame, and the method has better effect on fixed marshalling vehicles such as a motor train unit and the like. However, most railway freight vehicles currently adopt traditional air braking, and the communication between each vehicle unit and the bogie unit is low, so that the bogie instability detection device is not convenient to mount on the frame. Therefore, there is an urgent need to develop a new serpentine motion detection device and method that can be universally applied to all vehicles on a railway.
Disclosure of Invention
The invention aims to provide a snaking motion detection device, a snaking motion detection system and a snaking motion detection method, which can realize detection of snaking motion of all vehicles on a railway, thereby effectively detecting and pre-judging instability conditions of the vehicles.
In order to achieve the above object, an embodiment of the present invention provides a meandering detection apparatus, including: the displacement sensor pairs are used for detecting corresponding pulse signal pairs of the target wheel pairs of the vehicle which run to different positions in the detection interval; a processor to perform the following operations: determining the transverse displacement and the head shaking angle of the target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions; and determining the amplitude and the frequency of the snake-shaped motion in the detection interval according to the transverse displacement and the head shaking angle of the target wheel pair at different positions.
Preferably, the processor performs the operation of determining the amplitude and frequency of the serpentine motion within the detection interval according to the amount of traverse and the pan angle of the target wheel pair at different positions, including: synthesizing attitude changes of the target wheel pair in the detection region according to the transverse displacement and the pan angle of the target wheel pair at different positions; and determining the amplitude and the frequency of the snake-shaped motion in the detection interval according to the attitude change of the target wheel pair in the detection interval.
Preferably, the plurality of pairs of displacement sensors are mounted above both sides of different ties within the detection zone.
Preferably, the processor performs the operation of determining the amount of yaw and the yaw angle of the target wheel pair at different positions according to the detected corresponding pairs of pulse signals at different positions, including: determining the transverse displacement of the target wheel pair at different positions according to the detected amplitude difference of the pulse signal pair at different positions; and determining the pan angles of the target wheel pairs at different positions according to the detected phase differences of the corresponding pulse signal pairs at the different positions.
Through the technical scheme, the invention creatively determines the transverse displacement and the swing angle of the vehicle target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions, and then determines the amplitude and the frequency of the snake-shaped motion of the target wheel pair in a detection interval according to the transverse displacement and the swing angle of the target wheel pair at different positions, so that the snake-shaped motion of the wheel pairs of all vehicles on a railway can be detected in the detection interval through the simple snake-shaped motion detection device, and the instability condition of the vehicles can be effectively detected and pre-judged.
An embodiment of the present invention further provides a meandering detection system, including: a plurality of said snaking motion detection devices, each of said plurality of snaking motion detection devices being respectively mounted within one of a plurality of detection intervals for detecting the amplitude and frequency of said snaking motion of the vehicle within each of said plurality of detection intervals; a position detector for detecting a position of a target wheel pair of the vehicle; a controller to perform the following operations: under the condition that the position of the target wheel pair indicates that the target wheel pair runs to each detection zone in the plurality of detection zones, controlling a snaking motion detection device in the corresponding detection zone to be started; receiving the amplitude and the frequency of the snake-shaped motion of the target wheel pair in each detection interval, which are determined by the snake-shaped motion detection device in each detection interval; and synthesizing the amplitude and the frequency of the serpentine motion of the target wheel pair in the plurality of detection intervals according to the amplitude and the frequency of the serpentine motion in each detection interval.
Preferably, the position detector includes a plurality of proximity switches each of which is installed at a start position of one of the plurality of detection sections correspondingly.
Through the technical scheme, the invention creatively controls the snake-shaped motion detection device in the corresponding detection section to be started under the condition that the target wheel pair runs to each detection section in a plurality of detection sections, the snake-shaped motion detection device in the corresponding detection section detects the amplitude and the frequency of the snake-shaped motion of the target wheel pair in each detection section, and then the amplitude and the frequency of the snake-shaped motion in the detection sections are synthesized according to the amplitude and the frequency of the snake-shaped motion in each detection section, so that the snake-shaped motion of all vehicles on the railway can be detected through the simple snake-shaped motion detection system, and the instability condition of the vehicles can be effectively detected and predicted.
The embodiment of the invention also provides a crawling motion detection method, which comprises the following steps: detecting corresponding pulse signal pairs of target wheel pairs of a vehicle running to different positions in a detection interval; determining the transverse displacement and the head shaking angle of the target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions; and determining the amplitude and the frequency of the snake-shaped motion in the detection interval according to the transverse displacement and the head shaking angle of the target wheel pair at different positions.
Preferably, the determining the amplitude and the frequency of the serpentine motion in the detection interval according to the traverse amount and the head shake angle of the target wheel pair at different positions comprises: synthesizing the attitude change of the target wheel pair in a detection interval according to the transverse displacement and the pan angle of the target wheel pair at different positions; and determining the amplitude and the frequency of the snake-shaped motion in the detection interval according to the attitude change of the target wheel pair in the detection interval.
Preferably, the determining the traverse amount and the pan angle of the target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions comprises: determining the transverse displacement of the target wheel pair at different positions according to the detected amplitude difference of the pulse signal pair at different positions; and determining the pan angles of the target wheel pairs at different positions according to the detected phase differences of the corresponding pulse signal pairs at the different positions.
The advantages of the snake movement detection method and the snake movement detection device are the same compared with the prior art, and are not described again here.
The embodiment of the invention also provides a crawling motion detection method, which comprises the following steps: detecting the position of a target wheel pair of the vehicle; under the condition that the position of the target wheel pair indicates that the target wheel pair runs to each detection zone in the plurality of detection zones, controlling the snaking motion detection device in the corresponding detection zone to be started; detecting the amplitude and the frequency of the snake-shaped motion of the target wheel pair in the corresponding detection interval through the snake-shaped motion detection device in each detection interval; and synthesizing the amplitude and the frequency of the serpentine motion in the plurality of detection intervals according to the amplitude and the frequency of the serpentine motion in each detection interval.
The advantages of the snaking detection method and the snaking detection system are the same as those of the snaking detection system in comparison with the prior art, and are not described again here.
Embodiments of the present invention also provide a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and the instructions are used to enable a machine to execute the above-mentioned crawling motion detection method.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of a meandering detection device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a snaking motion detection device according to an embodiment of the present invention;
FIG. 3A is a schematic diagram of a target wheel pair in a state of no shaking head according to an embodiment of the present invention;
FIG. 3B is a schematic diagram of the pair of pulse signals detected by the pair of displacement sensors (2,15) when the pair of target wheels is not shaking head according to one embodiment of the present invention;
FIG. 4A is a schematic diagram of a target wheel set oscillating according to an embodiment of the present invention;
FIG. 4B is a schematic diagram of the pair of pulse signals detected by the pair of displacement sensors (2,15) when the pair of target wheels shake head according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of the hunting motion of the target wheel pair provided by one embodiment of the present invention;
FIG. 6 is a flow chart of a method for detecting hunting according to one embodiment of the present invention; and
fig. 7 is a flowchart of a crawling motion detection method according to an embodiment of the present invention.
Description of the reference numerals
1-26 electric eddy current displacement sensor 100 displacement sensor pair
110 processor
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
The working process and principle of the embodiment of the invention are as follows: the eddy current sensor pair on each sleeper is used as a scalable test unit, when a target wheel pair passes through, two eddy current sensors in each test unit respectively output pulse signals (namely, each eddy current sensor pair outputs corresponding pulse signal pairs), and a processor connected with all eddy current sensors analyzes the specific condition of snake-shaped movement of the target wheel pair according to a plurality of acquired pulse signals. The snake-shaped motion detection device in the embodiment of the invention has simple composition and low cost, and can be arranged on the middle line of a track, so that instability detection and prejudgment of all passing vehicles can be realized in a detection interval.
Fig. 1 is a structural diagram of a meandering detection device according to an embodiment of the present invention. As shown in fig. 1, the crawling motion detection device may include: a plurality of displacement sensor pairs 100 for detecting corresponding pairs of pulse signals at different positions within a detection interval from a target wheel pair of a vehicle; a processor 110 configured to perform the following operations: determining the transverse displacement and the head shaking angle of the target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions; and determining the amplitude and the frequency of the snake-shaped motion in the detection interval according to the transverse displacement and the head shaking angle of the target wheel pair at different positions. The snake-shaped motion detection device creatively determines the transverse displacement and the head shaking angle of the vehicle target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions, and then determines the amplitude and the frequency of the snake-shaped motion of the target wheel pair in a detection interval according to the transverse displacement and the head shaking angle of the target wheel pair at different positions, so that the snake-shaped motion of all vehicles on the railway can be detected in the detection interval through the simple snake-shaped motion detection device, and the instability condition of the vehicles can be effectively detected and predicted.
Wherein the displacement sensor may be an eddy current sensor. When the pair of target wheels passes the position of the eddy current sensors (e.g., eddy current sensors 2-12 and 15-25, as shown in fig. 2), the eddy current sensors collect corresponding pulse signals. The plurality of displacement sensor pairs may be mounted over both sides of different ties within a track detection zone. As shown in fig. 2, 26 eddy current sensors (eddy current sensor 1, eddy current sensor 2, … …, eddy current sensor 26) are arranged on both sides of a track having a length of 9.1m, wherein 11 eddy current sensor pairs (eddy current sensor pair (2,15), eddy current sensor pair (3, 16), … …, eddy current sensor pair (12, 25)) are arranged above consecutive 11 sleepers. The eddy current sensor pair (1,14) and the eddy current sensor pair (13,26) are mainly used for a proximity switch, and details about the two pairs of eddy current sensors will be described below (not described herein). The eddy current sensor pairs on both sides of each sleeper, such as eddy current sensor pairs (2,15), are used as a test unit to collect pulse signal pairs when the target wheel pair of the vehicle passes. The specific installation process of the eddy current sensor is as follows: each of a plurality of mounting supports is fixed to two sides of a sleeper in the detection area through screw holes correspondingly, and then an eddy current sensor is fixed on each mounting support through the screw holes. All eddy current sensors are connected to the processor through shielded cables.
The processor performing the operation of determining the amount of lateral displacement and the pan angle of the target wheel pair at different positions based on the detected corresponding pairs of pulse signals at the different positions may include: determining the transverse displacement of the target wheel pair at different positions according to the detected amplitude difference of the pulse signal pair at different positions; and determining the pan angles of the target wheel pairs at different positions according to the detected phase differences of the corresponding pulse signal pairs at the different positions. Taking the pair of eddy current sensors (2,15) shown in fig. 3 and 4 as an example, when the target wheel pair passes through, the eddy current sensor 2 and the eddy current sensor 15 respectively collect a pulse signal A, B related to the position, and the difference between the amplitude of the pulse signal a and the amplitude of the pulse signal B directly reflects the lateral movement amount of the target wheel pair; and the difference between the phase of the pulse signal A and the phase of the pulse signal B directly reflects the swing angle of the target wheel pair. Specifically, when the target wheel pair does not shake (as shown in fig. 3A), the pulse signals A, B output by the eddy current sensor 2 and the eddy current sensor 15 have the same phase (as shown in fig. 3B), and the amplitude difference of the pulse signal A, B is used as the traverse amount of the target wheel pair at the current test position, and if the amplitude difference is 0, it indicates that the target wheel pair does not traverse; if the amplitude difference is not 0, the target wheel pair is indicated to generate the transverse movement. When the target wheel pair has a pan angle (as shown in fig. 4A), the pulse signals A, B output by the eddy current sensor 2 and the eddy current sensor 15 have a phase difference (as shown in fig. 4B), and the pan angle of the target wheel pair can be output in combination with the phase difference of the pulse signal A, B. The specific calculation formula for the pan angle Ω is as follows: q is θABWherein, thetaABWhen the left and right wheels of a wheel pair pass through the eddy current sensor 2 and the eddy current sensor 15A phase difference.
The processor performing operations of determining the amplitude and frequency of the serpentine motion within the detection interval according to the amount of traverse and the yaw angle of the target wheel pair at different positions may include: synthesizing attitude changes of the target wheel pair in the detection region according to the transverse displacement and the pan angle of the target wheel pair at different positions; and determining the amplitude and the frequency of the snake-shaped motion in the detection interval according to the attitude change of the target wheel pair in the detection interval. That is, after receiving the traverse amount and the pan angle of the target wheel pair at different positions, the processor synthesizes all data into a functional relationship that the traverse amount of the target wheel pair changes with the position in the detection interval and a functional relationship that the pan angle of the target wheel pair changes with the position (or time, the corresponding relationship between the position and the time can be obtained according to the acquired vehicle speed passing through each position) in the detection interval, that is, the posture change of the target wheel pair in the detection interval, as shown in fig. 5; and then determining the amplitude and the frequency of the snake-shaped motion by adopting a Fourier transform technology according to the synthesized attitude change in the detection interval.
The serpentine motion detection device may further include: and the processor is also used for controlling the alarm to alarm under the condition that the amplitude of the snake-shaped motion exceeds a preset amplitude or the frequency of the snake-shaped motion exceeds a preset frequency. And under the condition that maintenance personnel receive the alarm information, corresponding measures are taken in time to overhaul and maintain the vehicle so as to avoid causing more serious accidents.
In summary, the present invention creatively determines the traverse amount and the swing angle of the target wheel pair of the vehicle at different positions according to the detected corresponding pulse signal pairs at different positions, and then determines the amplitude and the frequency of the serpentine motion of the target wheel pair in a detection interval according to the traverse amount and the swing angle of the target wheel pair at different positions, thereby the simple serpentine motion detection device can detect the serpentine motion of all vehicles on the railway in a detection interval, and the instability condition of the vehicle can be effectively detected and predicted.
Accordingly, an embodiment of the present invention further provides a crawling motion detection system, which may include: a plurality of said snaking motion detection devices, each of said plurality of snaking motion detection devices being mounted in a respective one of a plurality of detection intervals for detecting the amplitude and frequency of said snaking motion of a target wheel pair of a vehicle in each of said plurality of detection intervals; a position detector for detecting a position of a target wheel pair of the vehicle; a controller to perform the following operations: under the condition that the position of the target wheel pair indicates that the target wheel pair runs to each detection zone in the plurality of detection zones, controlling a snaking motion detection device in the corresponding detection zone to be started; receiving the amplitude and the frequency of the snake-shaped motion of the target wheel pair in each detection interval, which are detected by the snake-shaped motion detection device in each detection interval; and synthesizing the amplitude and the frequency of the serpentine motion of the target wheel pair in the detection intervals according to the amplitude and the frequency of the serpentine motion in each detection interval.
The position detector includes a plurality of proximity switches or a plurality of proximity switch pairs, each of which is installed at a start position of one of the plurality of detection sections. Wherein, the proximity switch can select an eddy current sensor. For example, a proximity switch or a proximity switch pair (e.g., the pair of eddy current sensors (1,14) in fig. 2) is arranged at the start position of each detection section. The proximity switch is positioned on the inner side of the steel rail and is positioned on the plane of the rail and points to the outer side of the steel rail. When the wheel pair passes by, the approach switch outputs high level, and when no wheel pair passes by, the approach switch outputs low level. Specifically, when the eddy current sensor (such as the eddy current sensor 1 or the eddy current sensor 14 in fig. 2) located at the starting position a of the first detection interval detects that the target wheel pair passes through, it sends a high-level signal to the controller; the controller sends an opening instruction to the snake-shaped motion detection device positioned in the first detection interval while receiving the high-level signal; until the eddy current sensor (not shown) at the start position of the second detection interval detects that the target wheel pair passes through, and the controller receives a high level signal, the controller sends a closing command to the serpentine motion detection device in the first detection interval and sends an opening command to the serpentine motion detection device in the second detection interval. In addition, a pair of proximity switches (e.g., eddy current sensor pair (13,26) in fig. 2) may also be provided at the end of each detection interval, which sends a high signal to the controller when it detects the passage of the target wheel pair; and the controller sends a closing command to the snake-shaped motion detection device positioned in the first detection interval while receiving the high-level signal. Therefore, no matter the embodiment that the proximity switches are arranged at the initial position or the initial and final positions of the detection interval, the snake-shaped motion detection device in the detection interval is in an opening state only when the target wheel pair passes through the detection interval, and the arrangement can prolong the service life of the eddy current sensor and avoid the waste of electric energy.
The specific installation process for the proximity switch is similar to that of the eddy current sensor described above and will not be described in detail herein. The advantage of providing the pair of proximity switches in this embodiment is that when one of the proximity switches fails, the other will still keep the entire detection system capable of effectively monitoring the vehicle, thus maintaining the normal operation of the entire railway system.
For each target wheel pair of each vehicle, the same process can be adopted to output the snaking motion amplitude and frequency of all target wheel pairs of the vehicle, so as to output the snaking motion stability index of the vehicle.
The controller and the processor in the crawling motion detection device can be two independent devices or the same device. The controller or the processor may be a general purpose processor, a special purpose processor, a conventional processor, a Digital Signal Processor (DSP), a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) circuits, any other type of Integrated Circuit (IC), a state machine, or the like.
Specifically, the test procedure is described below by taking a shenhua heavy-duty freight vehicle as an example.
For each target wheel pair, when an eddy current sensor (such as eddy current sensor 1 or eddy current sensor 14 in fig. 2) located at the starting position a of the first detection interval detects that the target wheel pair passes through, the eddy current sensor sends a high-level signal to the controller; the controller sends an opening instruction to the snake-shaped motion detection device positioned in the first detection interval while receiving the high-level signal; when the snake-shaped motion detection device in the first detection interval receives the opening instruction, each test unit through which the wheel pair passes starts to acquire a corresponding pulse signal pair, and the pulse signal pair is output to the processor until the eddy current sensor (such as the eddy current sensor 13 or the eddy current sensor 26 in fig. 2) at the terminal position B of the detection interval detects that the target wheel pair passes, and the controller receives a low-level signal. And the processor in the first detection interval starts to acquire a corresponding pulse signal pair according to each test unit, determines the transverse movement amount and the pan angle of the target wheel pair when passing through the test position in the detection interval, and further determines the amplitude and the frequency of the snake-shaped motion in the detection interval.
Then, when the eddy current sensor (not shown) at the starting position of the second detection interval detects that the target wheel pair passes through, the detection process in the first detection interval is repeated, and the processor in the second detection interval starts to collect the corresponding pulse signal pair according to each test unit, determines the traversing amount and the pan angle of the target wheel pair passing through the test position in the detection interval, and further determines the amplitude and the frequency of the snake-shaped motion in the detection interval. And repeatedly detecting the amplitude and the frequency of the snake-shaped movement of the target wheel pair in other detection intervals.
Finally, the controller can synthesize the amplitude and the frequency of the snake-shaped motion of the target wheel pair in the whole test interval according to the amplitude and the frequency of the snake-shaped motion of the target wheel pair in each detection interval, and judge the amplitude and the frequency of the snake-shaped motion of the target wheel pair on the basis of the amplitude and the frequency. And outputting the snaking motion amplitude and frequency of all target wheel pairs by adopting the same method for each target wheel pair of each row of vehicles, namely outputting the snaking motion stability index of the vehicles.
The common running speed of the heavy-load freight vehicle is 60-120km/h, when the frequency of the snaking motion is 5Hz, the wavelength distribution of the snaking motion of the corresponding target wheel pair is in the range of 3.33m to 6.67m, and the wavelengths of 3.33m and 6.67m respectively cover 5 and 10 test units, which meet the requirement of the sampling interval for detecting sine waves.
The embodiment of the invention has the advantages that the simple snaking detection device outputs the stability state of the snaking of the target wheel pair, the detection of the snaking with the wavelength ranging from 2.6m to 7.15m can be realized without strict requirement on the passing speed of the vehicle, and the invention has good adaptability and economy.
In summary, the present invention creatively controls the snaking motion detection device in the corresponding detection section to be turned on when the target wheel set runs to each of the plurality of detection sections, detects the amplitude and frequency of the snaking motion of the target wheel set in each of the plurality of detection sections through the snaking motion detection device in the corresponding detection section, and then synthesizes the amplitude and frequency of the snaking motion in the plurality of detection sections according to the amplitude and frequency of the snaking motion in each detection section, thereby realizing detection of the snaking motion of all vehicles on the railway through the simple snaking motion detection system, and effectively detecting and predicting the instability condition of the vehicle.
Accordingly, another embodiment of the present invention provides a method for detecting crawling motion, as shown in fig. 6, the method for detecting crawling motion may include the following steps: step S601, detecting corresponding pulse signal pairs of target wheel pairs of a vehicle running to different positions in a detection interval; step S602, determining the transverse displacement and the shaking angle of the target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions; and step S603, determining the amplitude and frequency of the snake-shaped motion in the detection interval according to the transverse displacement and the head shaking angle of the target wheel pair at different positions.
Preferably, the determining the amplitude and the frequency of the serpentine motion in the detection interval according to the traverse amount and the head shake angle of the target wheel pair at different positions comprises: synthesizing the attitude change of the target wheel pair in a detection interval according to the transverse displacement and the pan angle of the target wheel pair at different positions; and determining the amplitude and the frequency of the snake-shaped motion in the detection interval according to the attitude change of the target wheel pair in the detection interval.
Preferably, the determining the amplitude and the frequency of the serpentine motion in the detection interval according to the attitude change of the target wheel pair in the detection interval comprises: and determining the amplitude and the frequency of the snake-shaped motion in the detection interval by adopting a Fourier transform technology according to the posture change of the target wheel pair in the detection interval.
Preferably, the determining the traverse amount and the pan angle of the target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions comprises: determining the transverse displacement of the target wheel pair at different positions according to the detected amplitude difference of the pulse signal pair at different positions; and determining the pan angles of the target wheel pairs at different positions according to the detected phase differences of the corresponding pulse signal pairs at the different positions.
For details and benefits of the method for detecting snaking motion according to the present invention, reference is made to the above description of a snaking motion detecting apparatus, which is not repeated herein.
Accordingly, an embodiment of the present invention further provides a method for detecting crawling motion, as shown in fig. 7, the method for detecting crawling motion may include the following steps: step S701, detecting the position of a target wheel pair of a vehicle; step S702, controlling the snaking motion detection device in the corresponding detection interval to be started under the condition that the position of the target wheel pair indicates that the target wheel pair runs to each detection interval in the plurality of detection intervals; step S703, detecting the amplitude and frequency of the snake-shaped motion of the target wheel pair in the corresponding detection interval by the snake-shaped motion detection device in each detection interval; and step S704, synthesizing the amplitude and the frequency of the serpentine motion in the detection intervals according to the amplitude and the frequency of the serpentine motion in each detection interval.
Accordingly, a further embodiment of the invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the snake motion detection method.
The machine-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of such machine-readable storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a machine-readable storage medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (9)
1. A meandering detection device, characterized by comprising:
the displacement sensor pairs are used for detecting corresponding pulse signal pairs of the target wheel pairs of the vehicle which run to different positions in the detection interval;
a processor to perform the following operations:
determining the transverse displacement and the head shaking angle of the target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions; and
determining the amplitude and frequency of the snake-shaped motion in the detection interval according to the transverse displacement and the head shaking angle of the target wheel pair at different positions,
wherein the processor performing the operation of determining the amount of lateral movement and the pan angle of the target wheel pair at different positions based on the detected corresponding pairs of pulse signals at the different positions comprises:
determining the transverse displacement of the target wheel pair at different positions according to the detected amplitude difference of the pulse signal pair at different positions; and
and determining the pan angles of the target wheel pairs at different positions according to the detected phase differences of the corresponding pulse signal pairs at the different positions.
2. The snake motion detection device of claim 1, wherein the processor performing the operations of determining the amplitude and frequency of the snake motion within the detection interval based on the amount of traverse and the head shake angle of the target wheel pair at different locations comprises:
synthesizing attitude changes of the target wheel pair in the detection region according to the transverse displacement and the pan angle of the target wheel pair at different positions; and
and determining the amplitude and the frequency of the snake-shaped motion in the detection interval according to the attitude change of the target wheel pair in the detection interval.
3. The hunting motion detecting device according to claim 1, wherein the plurality of pairs of displacement sensors are mounted above both sides of different sleepers within the detection zone.
4. A hunting motion detection system, comprising:
a plurality of snake movement detection devices according to any of claims 1-3, each of which is mounted within a respective one of a plurality of detection zones for detecting the amplitude and frequency of said snake movement of a target wheel pair of a vehicle within each of said plurality of detection zones;
a position detector for detecting a position of a target wheel pair of the vehicle;
a controller to perform the following operations:
under the condition that the position of the target wheel pair indicates that the target wheel pair runs to each detection zone in the plurality of detection zones, controlling a snaking motion detection device in the corresponding detection zone to be started;
receiving the amplitude and the frequency of the snake-shaped motion of the target wheel pair in each detection interval, which are detected by the snake-shaped motion detection device in each detection interval;
and synthesizing the amplitude and the frequency of the serpentine motion of the target wheel pair in the plurality of detection intervals according to the amplitude and the frequency of the serpentine motion in each detection interval.
5. A snake motion detection system according to claim 4, wherein the position detector comprises a plurality of proximity switches or pairs of proximity switches, each of which is mounted at a start position corresponding to one of the plurality of detection zones.
6. A meandering detection method characterized by comprising:
detecting corresponding pulse signal pairs of target wheel pairs of a vehicle running to different positions in a detection interval;
determining the transverse displacement and the head shaking angle of the target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions; and
determining the amplitude and frequency of the snake-shaped motion in the detection interval according to the transverse displacement and the head shaking angle of the target wheel pair at different positions,
wherein the determining the traverse amount and the head shaking angle of the target wheel pair at different positions according to the detected corresponding pulse signal pairs at different positions comprises:
determining the transverse displacement of the target wheel pair at different positions according to the detected amplitude difference of the pulse signal pair at different positions; and
and determining the pan angles of the target wheel pairs at different positions according to the detected phase differences of the corresponding pulse signal pairs at the different positions.
7. The snake motion detection method of claim 6, wherein the determining the amplitude and frequency of the snake motion within the detection interval according to the amount of traverse and the head shake angle of the target wheel pair at different positions comprises:
synthesizing the attitude change of the target wheel pair in a detection interval according to the transverse displacement and the pan angle of the target wheel pair at different positions; and
and determining the amplitude and the frequency of the snake-shaped motion in the detection interval according to the attitude change of the target wheel pair in the detection interval.
8. A meandering detection method characterized by comprising:
detecting the position of a target wheel pair of the vehicle;
in the case where the position of the target wheel-pair indicates that the target wheel-pair is traveling to each of a plurality of detection intervals, controlling the hunting detection device according to any one of claims 1 to 3 in the corresponding detection interval to be turned on;
detecting the amplitude and the frequency of the snake-shaped motion of the target wheel pair in the corresponding detection interval through the snake-shaped motion detection device in each detection interval; and
and synthesizing the amplitude and the frequency of the serpentine motion in the plurality of detection intervals according to the amplitude and the frequency of the serpentine motion in each detection interval.
9. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of detecting hunting as claimed in any one of claims 6 to 7 and/or the method of detecting hunting as claimed in claim 8.
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